Vehicle on-board unit for connected and automated vehicle systems

ABSTRACT

This technology provides designs and methods for the vehicle on-board unit (OBU), which facilitates vehicle operations and control for connected automated vehicle highway (CAVH) systems. OBU systems provide vehicles with individually customized information and real-time control instructions for vehicle to fulfill the driving tasks such as car following, lane changing, route guidance. OBU systems also realize transportation operations and management services for both freeways and urban arterials. The OBU composed of the following devices: 1) a vehicle motion state parameter and environment parameter collection unit; 2) a multi-mode communication unit; 3) a location unit; 4) an intelligent gateway unit, and 5) a vehicle motion control unit. The OBU systems realize one or more of the following function categories: sensing, transportation behavior prediction and management, planning and decision making, and vehicle control. OBU is supported by real-time wired and/or wireless communication, the power supply networks, the cloud, cyber safety, security services, and the human machine interface.

This application claims priority to U.S. provisional patent applicationSer. No. 62/695,964, filed Jul. 10, 2018, which is incorporated hereinby reference in its entirety.

FIELD

The present technology relates to a vehicle on-board unit (OBU)configured to provide transportation management and operations andvehicle control for connected and automated vehicles (CAV) incoordination with an intelligent road infrastructure system (IRIS), and,more particularly, to a system for controlling CAVs by sendingcustomized, detailed, and time-sensitive control instructions andtraffic information for automated vehicle driving to individualvehicles, such as vehicle following, lane changing, route guidance, andother related information.

BACKGROUND

Vehicles equipped with an on-board unit (OBU) that can sense theirenvironment and navigate without human input, or with reduced humaninput, are in development. At present, these vehicles are inexperimental testing and not in widespread commercial use. Existingapproaches require expensive and complicated on-board systems, makingwidespread implementation a substantial challenge.

For instance, a technology described in U.S. Pat. No. 7,421,334 providesan on-board intelligent vehicle system comprising a sensor assembly tocollect data and a processor to process the data to determine theoccurrence of at least one event. An additional technology described inU.S. Pat. No. 7,554,435 describes a vehicle on-board unit that isconfigured to communicate with other vehicles to alert a driver of apotential braking situation in a preceding vehicle. However, theexisting technology is limited because present OBU only communicate withother vehicles or infrastructures. Furthermore, these conventionaltechnologies are designed to provide an autonomous driving vehiclesystem and do not provide a technology for a connected automated vehiclehighway system.

SUMMARY

In some embodiments, the present technology provides a comprehensivesystem configured to provide full vehicle operations and control forconnected and automated vehicle and highway systems by sending detailedand time-sensitive control instructions to individual vehicles. In someembodiments, the technology comprises a connected automated vehiclehighway system and methods and/or components thereof as described inU.S. patent application Ser. No. 15/628,331, filed Jun. 20, 2017 andU.S. Provisional Patent Application Ser. Nos. 62/626,862, filed Feb. 6,2018, 62/627,005, filed Feb. 6, 2018, 62/655,651, filed Apr. 10, 2018,and 62/669,215, filed May 9, 2018, the disclosures of which are hereinincorporated by reference in their entireties (referred to herein as aCAVH system). In some embodiments, the technology relates to the use ofa connected automated vehicle highway system and methods and/orcomponents thereof for heavy and special vehicles, e.g., as described inU.S. Provisional Patent Application Ser. No. 62/687,435, filed Jun. 20,2018, which is incorporated herein by reference.

Accordingly, in some embodiments, the technology provided herein relatesto a vehicle control on-board unit (OBU) configured to exchange datawith a vehicle infrastructure coordination transportation system. Insome embodiments, the technology comprises an OBU configured to exchangedata with a vehicle. In some embodiments, the vehicle control OBU isconfigured to control a vehicle (e.g., a vehicle comprising the OBU). Insome embodiments, the OBU is configured to exchange data with componentsof a CAVH system. In some embodiments, the vehicle control OBU comprisessensing modules to collect and/or provide information describing thedriving environment. In some embodiments, the vehicle control OBUcomprises modules to provide data processing. In some embodiments, thevehicle control OBU comprises modules to provide communication. In someembodiments, the vehicle control OBU comprises modules to provide databackups. In some embodiments, the vehicle control OBU comprises modulesto improve the automation level of the vehicle. In some embodiments, thevehicle control OBU comprises a vehicle motion state parametercollection unit. In some embodiments, the vehicle control OBU comprisesa vehicle environment parameter collection unit. In some embodiments,the vehicle control OBU comprises a multi-mode communication unit. Insome embodiments, the vehicle control OBU comprises a location unit. Insome embodiments, the vehicle control OBU comprises an intelligentgateway unit. In some embodiments, the vehicle control OBU comprises avehicle motion control unit.

In some embodiments, the vehicle control OBU is configured to provide afunction selected from the group consisting of sensing; prediction;planning; decision making; and control. In some embodiments, the vehiclecontrol OBU is configured to communicate in real-time using wired and/orwireless media. In some embodiments, the vehicle control OBU comprises apower supply and/or is configured to receive power from a power supply.In some embodiments, the vehicle control OBU is configured tocommunicate with the CAVH cloud, e.g., as described in U.S. ProvisionalPatent Application Ser. No. 62/691,391, incorporated herein by referencein its entirety. In some embodiments, the vehicle control OBU isconfigured to communicate with a safety subsystem. In some embodiments,the vehicle control OBU is configured to communicate with a cybersecurity subsystem. In some embodiments, the vehicle control OBU isconfigured to communicate with a human-machine interface.

In some embodiments, the vehicle control OBU is configured to receive anintelligence allocation. In some embodiments, the vehicle control OBU isconfigured to provide a range of intelligence levels. In someembodiments, the vehicle control OBU is configured to provide a weakintelligence level. In some embodiments, the vehicle control OBUreceives data from a road side unit (RSU). In some embodiments, In someembodiments, the vehicle control OBU sends data to a vehicle as input tocontrol the vehicle. In some embodiments, the vehicle control OBU isconfigured to function as an information transfer station. In someembodiments, the vehicle control OBU is configured to provide a strongintelligence level. In some embodiments, the vehicle control OBU isconfigured to sense the driving environment. In some embodiments, thevehicle control OBU is configured to receive data from another system,module, and/or component of the CAVH system. In some embodiments, thevehicle control OBU is configured to process driving environment dataand/or data received from another system, module, and/or component ofthe CAVH system. In some embodiments, the vehicle control OBU the OBU isconfigured to send the data to a vehicle to control said vehicle. Insome embodiments, the vehicle control OBU is configured to provide asuper intelligence level. In some embodiments, the vehicle control OBUis configured to seek data actively and/or mobilize resources for dataprocessing.

In some embodiments, the vehicle control OBU comprises a componentconfigured for Infrastructure to Vehicle communication. In someembodiments, the component is a hardware component. In some embodiments,the component is configured to send information between a first vehicleand a second vehicle. In some embodiments, the component is configuredto communicate using dedicated short range communications (DSRC), WiFi(e.g., IEEE 802.11), 4G, 5G, BLUETOOTH, and/or satellite communication.In some embodiments, the component is configured for Infrastructure toinfrastructure communication. In some embodiments, the component is ahardware component. In some embodiments, the component is configured tosend information from a vehicle to infrastructure. In some embodiments,the component is configured to communicate using dedicated short rangecommunications (DSRC), WiFi (e.g., IEEE 802.11), 4G, 5G, BLUETOOTH,and/or high speed internet. In some embodiments, the infrastructurecomprises an IRIS system. In some embodiments, the componentcommunicates with an OBU to provide information collected byinfrastructure. In some embodiments, the information is provided to anOBU for vehicle control. In some embodiments, the component isconfigured to communicate control commands to support an OBU. In someembodiments, the vehicle control OBU comprises a component configuredfor Vehicle to Vehicle communication. In some embodiments, the componentis a hardware component. In some embodiments, the component isconfigured to send information from a first vehicle to a second vehicle.In some embodiments, the component is configured to communicate usingdedicated short range communications (DSRC), WiFi (e.g., IEEE 802.11),4G, 5G, and/or BLUETOOTH. In some embodiments, the vehicle control OBUcomprises a component configured for Vehicle to infrastructurecommunication. In some embodiments, the component is a hardwarecomponent. In some embodiments, the component is configured tocommunicate between a vehicle and infrastructure. In some embodiments,the component is configured to using dedicated short rangecommunications (DSRC), WiFi (e.g., IEEE 802.11), 4G, 5G, and/orBLUETOOTH. In some embodiments, the component is configured to sendinformation collected from a vehicle to an RSU, the IRIS system, peoplein the nearby region, and/or other vehicles.

In some embodiments, the vehicle control OBU comprises one or more of aMicroscopic level environment sensing device, Mesoscopic level roadsidesensing device, In-vehicle sensing device, and/or Vehicle CAN businterface module. In some embodiments, the Microscopic level environmentsensing device comprises a camera set, long-range/short-range microwaveradar, ultrasonic radar, and/or inertial measurement unit. In someembodiments, the Mesoscopic level roadside sensing device comprises asensor on a RSU. In some embodiments, the Mesoscopic level roadsidesensing device comprises a camera set, long-range/short-range microwaveradars, and/or LIDAR. In some embodiments, the in-vehicle sensingdevices comprise a camera or interface. In some embodiments, the vehiclecontrol OBU is configured to perform a sensing method comprisingMicroscopic Level environment sensing and object detection. In someembodiments, the Microscopic Level environment sensing and objectdetection comprises detecting objects in the driving environment. Insome embodiments, the vehicle control OBU is configured to perform asensing method comprising Mesoscopic Level environment sensing andobject detection. In some embodiments, the Mesoscopic Level environmentsensing and object detection comprises improving the accuracy ofdetecting objects in the driving environment. In some embodiments, thevehicle control OBU is configured to perform a sensing method comprisingMacroscopic information collection. In some embodiments, the Macroscopicinformation collection comprises collecting event information datacomprising traffic status data and/or weather condition emergency data.In some embodiments, event information data are collected by TOC andCAVH. In some embodiments, event information data are transferred toOBU.

In some embodiments, the vehicle control OBU is configured to collectvehicle based data. In some embodiments, the vehicle control OBU isconfigured to collect standardized Basic Safety Message (BSM) data. Insome embodiments, the vehicle control OBU is configured to collect SAEJ2735 standardized Basic Safety Message (BSM) data. In some embodiments,the vehicle control OBU is configured to collect data describing vehiclesize, position, speed, heading, acceleration, and brake system status.In some embodiments, the vehicle control OBU is configured to collect avariable set of data elements. In some embodiments, the vehicle controlOBU is configured to collect vehicle occupant data. In some embodiments,the vehicle control OBU is configured to collect status information ofvehicle occupants. In some embodiments, the vehicle control OBU isconfigured to localize a vehicle using High Definition Maps. In someembodiments, a vehicle comprises the OBU.

In some embodiments, the vehicle control OBU is configured to performprediction methods. In some embodiments, the vehicle control OBU isconfigured to perform prediction methods at a microscopic, mesoscopic,and/or macroscopic level. In some embodiments, the vehicle control OBUis configured to perform prediction methods comprising predictingvehicle behaviors. In some embodiments, predicting vehicle behaviorscomprises predicting car following, overtaking, and lane changing. Insome embodiments, predicting vehicle behaviors is based on datacollected by a vehicle comprising said OBU. In some embodiments,predicting vehicle behaviors comprises modifying a prediction accordingto environmental data collected and/or predicted by RSU. In someembodiments, the vehicle control OBU further comprises receiving roadenvironment information from an RSU. In some embodiments, roadenvironment information comprises road network traffic status,roadblocks, and/or weather information. In some embodiments, theprediction methods further comprise receiving vehicle behaviorprediction data from an RSU. In some embodiments, the RSU predicts thebehaviors of single vehicles, vehicles flow, and environmentalinformation. In some embodiments, the RSU modifies prediction resultsaccording to off-line vehicle data, online speed data, engine revolutionspeed data, travelled distance, and/or information collected andpredicted by an said OBU.

In some embodiments, the vehicle control OBU configured to performdecision-making methods. In some embodiments, the decision-makingmethods comprise choosing a route. In some embodiments, choosing a routecomprises making route choice decisions at a microscopic, mesoscopic,and/or macroscopic scale. In some embodiments, the decision-makingmethods comprise deciding to follow a vehicle and/or change lanes. Insome embodiments, the decision-making methods comprise receiving asinput data collected by the vehicle comprising said OBU and datatransmitted by RSU. In some embodiments, the decision-making methodscomprise selecting a route or path. In some embodiments, thedecision-making methods comprise optimizing a route. In someembodiments, the decision-making methods comprise receiving datatransmitted by a RSU and adjusting said data in real time based onvehicle state information.

In some embodiments, the vehicle control OBU is configured to performvehicle control methods. In some embodiments, the vehicle control OBU isconfigured to communicate with components providing sensing, prediction,and decision making. In some embodiments, the vehicle control OBU isconfigured to control a vehicle at a microscopic, mesoscopic, and/ormacroscopic scale. In some embodiments, the vehicle control OBU isconfigured to perform vehicle control methods comprising controllingvehicle lane position, controlling vehicle speed, controlling vehicledirection, and/or controlling vehicle turning and elevation. In someembodiments, controlling vehicle lane position comprising maintaininglane position or changing lanes. In some embodiments, the vehiclecontrol OBU is configured to receive instructions and/or data from anRSU. In some embodiments, the vehicle control methods comprisingadjusting vehicle lane position, adjusting vehicle speed, adjustingvehicle direction, and/or adjusting vehicle turning and elevation usingsaid instructions and/or data from said RSU. In some embodiments, theinstructions and/or data from an RSU comprise information describing asystem boundary, vehicle platoon, and/or work zone. In some embodiments,the instructions and/or data comprise control instructions for the OBUand the OBU controls a vehicle according to said control instructions.In some embodiments, the vehicle control OBU adjusts vehicle controlaccording to signal priority.

In some embodiments, the vehicle control OBU comprises a plurality ofmodules. In some embodiments, the vehicle control OBU comprises a systemon a chip, said system on a chip comprising a plurality of modules. Insome embodiments, the vehicle control OBU comprises a general purposeprocessor. In some embodiments, the vehicle control OBU comprises aspecial purpose processor. In some embodiments, the general purposeprocessor is a central processing unit. In some embodiments, the specialpurpose processor is a graphics processing unit. In some embodiments,the vehicle control OBU comprises a memory module. In some embodiments,the vehicle control OBU comprises a computing subsystem configured toperform computation methods. In some embodiments, computation methodscomprise processing sequential work for a general purpose processor. Insome embodiments, computation methods comprise processing raw data,transporting data, and/or fusing data. In some embodiments, computationmethods comprise performing a control algorithm, training a generalmodel, and/or inferring from a general model. In some embodiments,computation methods comprise processing parallel work for a specialpurpose processor. In some embodiments, computation methods comprisetraining a tensor-centered model and/or inferring from a tensor-centeredmodel.

In some embodiments, the vehicle control OBU comprises a data storagesubsystem configured to perform data storage methods. In someembodiments, the data storage subsystem stores data for a computingsubsystem of said OBU. In some embodiments, the data storage subsystemstores data comprising detected short-range environment information, HDmap, and/or processed and aggregated environment information from RSU.In some embodiments, the data storage subsystem receives and/orretrieves data from on-board sensors, a RSU data processing module,and/or upper-level TCC/TCU. In some embodiments, data is stored using along-term reliable storage hardware. In some embodiments, long-termreliable storage hardware comprises a magnetic and/or flash storagemedium. In some embodiments, the data storage subsystem is configured tomanage data, verify data, and provide efficient data storage and access.

In some embodiments, the vehicle control OBU comprises a cyber securitysubsystem configured to perform cyber security methods. In someembodiments, said cyber security subsystem is configured to providecritical OBU component-level protection, network-level protection,cloud-level protection, and/or application-level protection. In someembodiments, network-level protection guards against unauthorizedintrusion and/or malicious insiders. In some embodiments, cloud-levelprotection provides security for data. In some embodiments,application-level protection comprises methods for fuzzing andpenetration testing. In some embodiments, application-level protectionis configured to minimize and/or eliminate attacks on confidentiality,attacks on integrity, and/or attacks an availability. In someembodiments, attacks on confidentiality comprise stealing or copyingpersonal information. In some embodiments, attacks on integrity comprisesabotage. In some embodiments, attacks on integrity comprise corrupting,damaging, or destroying information and/or systems. In some embodiments,attacks on availability comprise preventing a target from accessingdata. In some embodiments, attacks on availability comprise a ransomwareand/or denial-of-service attack.

In some embodiments, the vehicle control OBU comprises a OBU Cloudsubsystem configured to perform CAVH system functions. In someembodiments, the CAVH system functions comprise sensing, control, and/orprediction planning. In some embodiments, the vehicle control OBUcomprises an OBU Cloud subsystem is configured to communicate with OBUs,users, vehicle, infrastructure, and/or CAVH system. In some embodiments,the OBU Cloud subsystem comprises an OBU-user end subsystem configuredto store, share, manage, and integrate user profile data; providepre-trip notification and customization; provide in-triprecommendations; and provide post-trip analysis. In some embodiments,the OBU Cloud subsystem comprises an OBU-vehicle end subsystemconfigured to store, share, manage, and integrate vehicle profile dataand provide control of basic driving tasks. In some embodiments, the OBUCloud subsystem comprises an OBU-vehicle end subsystem configured toprovide navigation, guidance, and control through a vehicle-based cloudservice. In some embodiments, the OBU Cloud subsystem comprises anOBU-infrastructure end subsystem configured to communicate withtransportation infrastructure and IRIS subsystem and configure toprovide data management, crowd-sensing, and coordinate control. In someembodiments, the OBU Cloud subsystem comprises an OBU-system endsubsystem configured to communicate with CAVH system and performanalysis and optimization.

In some embodiments, the vehicle control OBU comprises a safetysubsystem. In some embodiments, the safety subsystem comprises RSU basedcomponents and methods, Vehicle-based components and methods, and/orSystem based components and methods. In some embodiments, the RSU basedcomponents and methods are deployed on the roadside and controlled byRSUs. In some embodiments, the RSU based components comprise an activeairbag. In some embodiments, the RSU based methods comprise producing apavement condition warning and/or producing a pedestrian and/orbicyclist warning. In some embodiments, the vehicle-based components andmethods are deployed on vehicles and controlled by vehicle OBUs. In someembodiments, the vehicle-based components are configured to brake avehicle in an emergency and/or provide for a human driver to assumecontrol of a vehicle. In some embodiments, the system based componentsand methods are configured to manage collaboration of multiple entitiesby TCC or TCU. In some embodiments, the system based components andmethods are configured to manage incident responses and provide dynamicvehicle routing. In some embodiments, the vehicle control OBU comprisesa safety subsystem configured to perform proactive, active, and passivesafety measures. In some embodiments, proactive measures comprisepreventive measures based on incident prediction and risk indexestimation and are deployed prior to incident occurrence. In someembodiments, active measures comprise rapid incident detection and aredeployed before harms to humans and/or property occur. In someembodiments, passive comprise post-incident measures to alleviatefurther harms and losses.

In some embodiments, the vehicle control OBU comprises a Human MachineInterface (HMI). In some embodiments, the HMI is configured to performin a mode providing complete vehicle control by the IRIS; a modeproviding vehicle control by cooperation between the vehicle and theIRIS; and a mode providing vehicle control by said vehicle. In someembodiments, the mode providing complete vehicle control by the IRISreceives human inputs and commands for vehicle motion control andcontrols said vehicle using said human inputs and commands for vehiclemotion control in limited scenarios. In some embodiments, the humaninputs and commands for vehicle motion control comprise instructions fora destination change or for driving to a site for medical treatment. Insome embodiments, the mode providing vehicle control by cooperationbetween the vehicle and the IRIS receives human inputs and commands forvehicle motion control, receives IRIS inputs and commands for vehiclemotion control, and resolves conflicts between human and IRIS inputs andcommands. In some embodiments, IRIS inputs and commands for vehiclemotion control receive preference over human inputs and commands forvehicle motion control when human and IRIS inputs and commands conflict.In some embodiments, the mode providing vehicle control by cooperationbetween the vehicle and the IRIS receives human inputs and commands forcontrolling entertainment systems, climate control, window raising andlowering, seat adjustment, and/or phone calls and messaging. In someembodiments, the mode providing vehicle control by said vehicle receiveshuman inputs and commands for vehicle motion control that are notsuperseded by IRIS inputs and commands.

In some embodiments, the vehicle control OBU is configured to operate avehicle on roads comprising a RSU network, comprising a partial RSUnetwork, or roads not comprising a RSU network. In some embodiments, thevehicle control OBU is configured to receive complete information fromIRIS for vehicle control. In some embodiments, the vehicle control OBUis configured to receive information from IRIS and integrate it withinformation from other sources for vehicle control. In some embodiments,the vehicle control OBU is configured to receive information from othervehicles and satellites for vehicle control.

In some embodiments, the vehicle control OBU is configured to performmethods for taxi dispatching and route optimization. In someembodiments, the vehicle control OBU is configured to communicate with aregional dispatching center. In some embodiments, the vehicle controlOBU is configured to communicate with a regional dispatching center toreceive information and commands for predicting high demand area,recommending a route, optimizing a route, and/or adjusting a route inreal-time. In some embodiments, the methods for taxi dispatching androute optimization comprise predicting high demand area, recommending aroute, optimizing a route, and/or adjusting a route in real-time. Insome embodiments, the methods for taxi dispatching and routeoptimization comprise updating and optimizing a route based on real-timerequirements of passengers.

In some embodiments, the vehicle control OBU is configured to performmethods for taxi safety. In some embodiments, methods for taxi safetycomprise receiving and processing passenger requirements. In someembodiments, methods for taxi safety comprise identifying parking spots.In some embodiments, methods for taxi safety comprise making anemergency stop based on a passenger command. In some embodiments,methods for taxi safety comprise recording information comprisinginternal video and voice recording, external video and voice recording,and OBU sensor information. In some embodiments, methods for taxi safetycomprise backing up recorded safety information on the CAVH cloud. Insome embodiments, the vehicle control OBU is configured to performmethods for environmental protection. In some embodiments, the methodsfor environmental protection comprise managing taxi idling and taxiidling location. In some embodiments, the methods for environmentalprotection comprise receiving information from a regional dispatchingcenter. In some embodiments, the information from a regional dispatchingcenter comprises information describing real-time demand.

In some embodiments, the technology provides safety technologies asdescribed herein and a vehicle operations and control system comprisingone or more of a roadside unit (RSU) network; a Traffic Control Unit(TCU) and Traffic Control Center (TCC) network (e.g., TCU/TCC network);a vehicle comprising an onboard unit (OBU), e.g., as described herein;and/or a Traffic Operations Center (TOC).

In some embodiments, the technology provides a system (e.g., a vehicleoperations and control system comprising a RSU network; a TCU/TCCnetwork; a vehicle comprising an onboard unit OBU; a TOC; and acloud-based platform configured to provide information and computingservices; see, e.g., U.S. Provisional Patent Application Ser. No.62/691,391, incorporated herein by reference in its entirety) configuredto provide sensing functions, transportation behavior prediction andmanagement functions, planning and decision making functions, and/orvehicle control functions. In some embodiments, the system compriseswired and/or wireless communications media. In some embodiments, thesystem comprises a power supply network. In some embodiments, the systemcomprises a cyber-safety and security system. In some embodiments, thesystem comprises a real-time communication function.

In some embodiments, the RSU network of embodiments of the systemsprovided herein comprises an RSU subsystem. In some embodiments, the RSUsubsystem comprises: a sensing module configured to measurecharacteristics of the driving environment; a communication moduleconfigured to communicate with vehicles, TCUs, and the cloud; a dataprocessing module configured to process, fuse, and compute data from thesensing and/or communication modules; an interface module configured tocommunicate between the data processing module and the communicationmodule; and an adaptive power supply module configured to provide powerand to adjust power according to the conditions of the local power grid.In some embodiments, the adaptive power supply module is configured toprovide backup redundancy. In some embodiments, communication modulecommunicates using wired or wireless media.

In some embodiments, sensing module comprises a radar based sensor. Insome embodiments, sensing module comprises a vision based sensor. Insome embodiments, sensing module comprises a radar based sensor and avision based sensor and wherein said vision based sensor and said radarbased sensor are configured to sense the driving environment and vehicleattribute data. In some embodiments, the radar based sensor is a LIDAR,microwave radar, ultrasonic radar, or millimeter radar. In someembodiments, the vision based sensor is a camera, infrared camera, orthermal camera. In some embodiments, the camera is a color camera.

In some embodiments, the sensing module comprises a satellite basednavigation system. In some embodiments, the sensing module comprises aninertial navigation system. In some embodiments, the sensing modulecomprises a satellite based navigation system and an inertial navigationsystem and wherein said sensing module comprises a satellite basednavigation system and said inertial navigation system are configured toprovide vehicle location data. In some embodiments, the satellite basednavigation system is a Differential Global Positioning Systems (DGPS) ora BeiDou Navigation Satellite System (BDS) System or a GLONASS GlobalNavigation Satellite System. In some embodiments, the inertialnavigation system comprises an inertial reference unit.

In some embodiments, the sensing module of embodiments of the systemsdescribed herein comprises a vehicle identification device. In someembodiments, the vehicle identification device comprises RFID,Bluetooth, Wi-fi (IEEE 802.11), or a cellular network radio, e.g., a 4Gor 5G cellular network radio.

In some embodiments, the RSU sub-system is deployed at a fixed locationnear road infrastructure. In some embodiments, the RSU sub-system isdeployed near a highway roadside, a highway on ramp, a highway off ramp,an interchange, a bridge, a tunnel, a toll station, or on a drone over acritical location. In some embodiments, the RSU sub-system is deployedon a mobile component. In some embodiments, the RSU sub-system isdeployed on a vehicle drone over a critical location, on an unmannedaerial vehicle (UAV), at a site of traffic congestion, at a site of atraffic accident, at a site of highway construction, at a site ofextreme weather. In some embodiments, a RSU sub-system is positionedaccording to road geometry, heavy vehicle size, heavy vehicle dynamics,heavy vehicle density, and/or heavy vehicle blind zones. In someembodiments, the RSU sub-system is installed on a gantry (e.g., anoverhead assembly, e.g., on which highway signs or signals are mounted).In some embodiments, the RSU sub-system is installed using a singlecantilever or dual cantilever support.

In some embodiments, the TCC network of embodiments of the systemsdescribed herein is configured to provide traffic operationoptimization, data processing and archiving. In some embodiments, theTCC network comprises a human operations interface. In some embodiments,the TCC network is a macroscopic TCC, a regional TCC, or a corridor TCCbased on the geographical area covered by the TCC network. See, e.g.,U.S. patent application Ser. No. 15/628,331, filed Jun. 20, 2017 andU.S. Provisional Patent Application Ser. Nos. 62/626,862, filed Feb. 6,2018, 62/627,005, filed Feb. 6, 2018, 62/655,651, filed Apr. 10, 2018,and 62/669,215, filed May 9, 2018, each of which is incorporated hereinin its entirety for all purposes.

In some embodiments, the TCU network is configured to provide real-timevehicle control and data processing. In some embodiments, the real-timevehicle control and data processing are automated based on preinstalledalgorithms.

In some embodiments, the TCU network is a segment TCU or a point TCUsbased on based on the geographical area covered by the TCU network. See,e.g., U.S. patent application Ser. No. 15/628,331, filed Jun. 20, 2017and U.S. Provisional Patent Application Ser. Nos. 62/626,862, filed Feb.6, 2018, 62/627,005, filed Feb. 6, 2018, 62/655,651, filed Apr. 10,2018, and 62/669,215, filed May 9, 2018, each of which is incorporatedherein in its entirety for all purposes. In some embodiments, the systemcomprises a point TCU physically combined or integrated with an RSU. Insome embodiments, the system comprises a segment TCU physically combinedor integrated with a RSU.

In some embodiments, the TCC network of embodiments of the systemsdescribed herein comprises macroscopic TCCs configured to processinformation from regional TCCs and provide control targets to regionalTCCs; regional TCCs configured to process information from corridor TCCsand provide control targets to corridor TCCs; and corridor TCCsconfigured to process information from macroscopic and segment TCUs andprovide control targets to segment TCUs. See, e.g., U.S. patentapplication Ser. No. 15/628,331, filed Jun. 20, 2017 and U.S.Provisional Patent Application Ser. Nos. 62/626,862, filed Feb. 6, 2018,62/627,005, filed Feb. 6, 2018, 62/655,651, filed Apr. 10, 2018, and62/669,215, filed May 9, 2018, each of which is incorporated herein inits entirety for all purposes.

In some embodiments, the TCU network comprises: segment TCUs configuredto process information from corridor and/or point TOCs and providecontrol targets to point TCUs; and point TCUs configured to processinformation from the segment TCU and RSUs and provide vehicle-basedcontrol instructions to an RSU. See, e.g., U.S. patent application Ser.No. 15/628,331, filed Jun. 20, 2017 and U.S. Provisional PatentApplication Ser. Nos. 62/626,862, filed Feb. 6, 2018, 62/627,005, filedFeb. 6, 2018, 62/655,651, filed Apr. 10, 2018, and 62/669,215, filed May9, 2018, each of which is incorporated herein in its entirety for allpurposes.

In some embodiments, the RSU network of embodiments of the systemsprovided herein provides vehicles with customized traffic informationand control instructions and receives information provided by vehicles.

In some embodiments, the TCC network of embodiments of the systemsprovided herein comprises one or more TCCs comprising a connection anddata exchange module configured to provide data connection and exchangebetween TCCs. In some embodiments, the connection and data exchangemodule comprises a software component providing data rectify, dataformat convert, firewall, encryption, and decryption methods. In someembodiments, the TCC network comprises one or more TCCs comprising atransmission and network module configured to provide communicationmethods for data exchange between TCCs. In some embodiments, thetransmission and network module comprises a software component providingan access function and data conversion between different transmissionnetworks within the cloud platform. In some embodiments, the TCC networkcomprises one or more TCCs comprising a service management moduleconfigured to provide data storage, data searching, data analysis,information security, privacy protection, and network managementfunctions. In some embodiments, the TCC network comprises one or moreTCCs comprising an application module configured to provide managementand control of the TCC network. In some embodiments, the applicationmodule is configured to manage cooperative control of vehicles androads, system monitoring, emergency services, and human and deviceinteraction.

In some embodiments, TCU network of embodiments of the systems describedherein comprises one or more TCUs comprising a sensor and control moduleconfigured to provide the sensing and control functions of an RSU. Insome embodiments, the sensor and control module is configured to providethe sensing and control functions of radar, camera, RFID, and/or V2I(vehicle-to-infrastructure) equipment. In some embodiments, the sensorand control module comprises a DSRC, GPS, 4G, 5G, and/or wife radio. Insome embodiments, the TCU network comprises one or more TCUs comprisinga transmission and network module configured to provide communicationnetwork function for data exchange between an automated heavy vehiclesand a RSU. In some embodiments, the TCU network comprises one or moreTCUs comprising a service management module configured to provide datastorage, data searching, data analysis, information security, privacyprotection, and network management. In some embodiments, the TCU networkcomprises one or more TCUs comprising an application module configuredto provide management and control methods of an RSU. In someembodiments, the management and control methods of an RSU comprise localcooperative control of vehicles and roads, system monitoring, andemergency service. In some embodiments, the TCC network comprises one ormore TCCs further comprising an application module and said servicemanagement module provides data analysis for the application module. Insome embodiments, the TCU network comprises one or more TCUs furthercomprising an application module and said service management moduleprovides data analysis for the application module.

In some embodiments, the TOC of embodiments of the systems describedherein comprises interactive interfaces. In some embodiments, theinteractive interfaces provide control of said TCC network and dataexchange. In some embodiments, the interactive interfaces compriseinformation sharing interfaces and vehicle control interfaces. In someembodiments, the information sharing interfaces comprise: an interfacethat shares and obtains traffic data; an interface that shares andobtains traffic incidents; an interface that shares and obtainspassenger demand patterns from shared mobility systems; an interfacethat dynamically adjusts prices according to instructions given by saidvehicle operations and control system; and/or an interface that allows aspecial agency (e.g., a vehicle administrative office or police) todelete, change, and share information. In some embodiments, the vehiclecontrol interfaces of embodiments of the interactive interfacescomprise: an interface that allows said vehicle operations and controlsystem to assume control of vehicles; an interface that allows vehiclesto form a platoon with other vehicles; and/or an interface that allows aspecial agency (e.g., a vehicle administrative office or police) toassume control of a vehicle. In some embodiments, the traffic datacomprises vehicle density, vehicle velocity, and/or vehicle trajectory.In some embodiments, the traffic data is provided by the vehicleoperations and control system and/or other share mobility systems. Insome embodiments, traffic incidents comprise extreme conditions, majoraccident, and/or a natural disaster. In some embodiments, an interfaceallows the vehicle operations and control system to assume control ofvehicles upon occurrence of a traffic event, extreme weather, orpavement breakdown when alerted by said vehicle operations and controlsystem and/or other share mobility systems. In some embodiments, aninterface allows vehicles to form a platoon with other vehicles whenthey are driving in the same dedicated and/or same non-dedicated lane.

In some embodiments, the OBU of embodiments of systems described hereincomprises a communication module configured to communicate with an RSU.In some embodiments, the OBU comprises a communication module configuredto communicate with another OBU. In some embodiments, the OBU comprisesa data collection module configured to collect data from externalvehicle sensors and internal vehicle sensors; and to monitor vehiclestatus and driver status. In some embodiments, the OBU comprises avehicle control module configured to execute control instructions fordriving tasks. In some embodiments, the driving tasks comprise carfollowing and/or lane changing. In some embodiments, the controlinstructions are received from an RSU. In some embodiments, the OBU isconfigured to control a vehicle using data received from an RSU. In someembodiments, the data received from said RSU comprises: vehicle controlinstructions; travel route and traffic information; and/or servicesinformation. In some embodiments, the vehicle control instructionscomprise a longitudinal acceleration rate, a lateral acceleration rate,and/or a vehicle orientation. In some embodiments, the travel route andtraffic information comprise traffic conditions, incident location,intersection location, entrance location, and/or exit location. In someembodiments, the services data comprises the location of a fuel stationand/or location of a point of interest. In some embodiments, OBU isconfigured to send data to an RSU. In some embodiments, the data sent tosaid RSU comprises: driver input data; driver condition data; vehiclecondition data; and/or goods condition data. In some embodiments, thedriver input data comprises origin of the trip, destination of the trip,expected travel time, service requests, and/or level of hazardousmaterial. In some embodiments, the driver condition data comprisesdriver behaviors, fatigue level, and/or driver distractions. In someembodiments, the vehicle condition data comprises vehicle ID, vehicletype, and/or data collected by a data collection module. In someembodiments, the goods condition data comprises material type, materialweight, material height, and/or material size.

In some embodiments, the OBU of embodiments of systems described hereinis configured to collecting data comprising: vehicle engine status;vehicle speed; goods status; surrounding objects detected by vehicles;and/or driver conditions. In some embodiments, the OBU is configured toassume control of a vehicle. In some embodiments, the OBU is configuredto assume control of a vehicle when the automated driving system fails.In some embodiments, the OBU is configured to assume control of avehicle when the vehicle condition and/or traffic condition prevents theautomated driving system from driving said vehicle. In some embodiments,the vehicle condition and/or traffic condition is adverse weatherconditions, a traffic incident, a system failure, and/or a communicationfailure.

Also provided herein are methods employing any of the systems describedherein for the management of one or more aspects of traffic control. Themethods include those processes undertaken by individual participants inthe system (e.g., drivers, public or private local, regional, ornational transportation facilitators, government agencies, etc.) as wellas collective activities of one or more participants working incoordination or independently from each other.

Some portions of this description describe the embodiments of theinvention in terms of algorithms and symbolic representations ofoperations on information. These algorithmic descriptions andrepresentations are commonly used by those skilled in the dataprocessing arts to convey the substance of their work effectively toothers skilled in the art. These operations, while describedfunctionally, computationally, or logically, are understood to beimplemented by computer programs or equivalent electrical circuits,microcode, or the like. Furthermore, it has also proven convenient attimes, to refer to these arrangements of operations as modules, withoutloss of generality. The described operations and their associatedmodules may be embodied in software, firmware, hardware, or anycombinations thereof.

Certain steps, operations, or processes described herein may beperformed or implemented with one or more hardware or software modules,alone or in combination with other devices. In one embodiment, asoftware module is implemented with a computer program productcomprising a computer-readable medium containing computer program code,which can be executed by a computer processor for performing any or allof the steps, operations, or processes described.

Embodiments of the invention may also relate to an apparatus forperforming the operations herein. This apparatus may be speciallyconstructed for the required purposes, and/or it may comprise ageneral-purpose computing device selectively activated or reconfiguredby a computer program stored in the computer. Such a computer programmay be stored in a non-transitory, tangible computer readable storagemedium, or any type of media suitable for storing electronicinstructions, which may be coupled to a computer system bus.Furthermore, any computing systems referred to in the specification mayinclude a single processor or may be architectures employing multipleprocessor designs for increased computing capability.

In some embodiments, the technology relates to the use of a connectedautomated vehicle highway system and methods and/or components thereoffor heavy and special vehicles, e.g., as described in U.S. ProvisionalPatent Application Ser. No. 62/687,435, filed Jun. 20, 2018, which isincorporated herein by reference. In some embodiments, the technologycomprises a cloud system as described in U.S. Provisional PatentApplication Ser. No. 62/691,391, incorporated herein by reference in itsentirety. In some embodiments, the technology comprises technologiesrelated to safety systems as described in U.S. Provisional PatentApplication Ser. No. 62/695,938, incorporated herein by reference in itsentirety.

Additional embodiments will be apparent to persons skilled in therelevant art based on the teachings contained herein.

BRIEF DESCRIPTION OF THE DRAWINGS

The patent or application file contains at least one drawing executed incolor. Copies of this patent or patent application publication withcolor drawings will be provided by the Office upon request and paymentof the necessary fee.

These and other features, aspects, and advantages of the presenttechnology will become better understood with regard to the followingdrawings:

FIG. 1 is a schematic drawing showing embodiments of a communicationenvironment, e.g., for infrastructure to communicate to other systemsand/or components (I2X). Features of embodiments of the technology shownin FIG. 1 include, e.g., RSU communication with the cloud 101; RSUcommunication with other RSU 102; RSU communication with pedestrians103; RSU communication with traffic signal 104; RSU communication withmobile network 105; and RSU communication with vehicles 106.

FIG. 2 is a schematic drawing showing embodiments of a vehicle tovehicle (V2V) communication environment. Features of embodiments of thetechnology shown in FIG. 2 include, e.g., vehicle to RSU communication201; vehicle to pedestrian communication 202; and vehicle to vehiclecommunication 203.

FIG. 3 is a schematic drawing showing embodiments of data sensing andcollecting methods and systems. Features of embodiments of thetechnology shown in FIG. 3 include, e.g., OBU 301; RSU 302; TCU 303; TCC304; Camera Set (vehicle exterior) 305; Microwave radars (vehicleexterior) 306; Ultrasonic radars (vehicle exterior) 307; Inertialmeasurement units 308; Cabin camera (vehicle interior) 309; Humaninterface module 310; CAN bus interface module 311; Camera Set(roadside) 312; Microwave radars (roadside) 313; Lidar (roadside) 314;Information collection module 315; Vehicle sensory data 316; Cabinpassenger data 317; Basic safety message 318; Roadside sensory data 319;and Macroscopic traffic information 320.

FIG. 4 is a schematic drawing showing embodiments of prediction methodsand systems. Features of embodiments of the technology shown in FIG. 4include, e.g., OBU 401; Vehicle sensing module 402; Prediction module403; RSU 404; Decision making module 405; and Control module 406.

FIG. 5 is a schematic drawing showing embodiments of decision-makingmethods and systems. Features of embodiments of the technology shown inFIG. 5 include, e.g., OBU 501; Vehicle state 502; Decision making module503; RSU 504; and Vehicle control module 505.

FIG. 6 is a schematic drawing showing embodiments of control methods andsystems. Features of embodiments of the technology shown in FIG. 6include, e.g., OBU 601; Vehicle 602; RSU 603; Decision making module604; and Control module 605.

FIG. 7 is a schematic drawing showing embodiments of a cloud subsystemplatform. Features of embodiments of the technology shown in FIG. 7include, e.g., OBU Cloud 701; User 702; RSU 703; Vehicles 704, includingconnected automated vehicle (CAV) and non CAV; Transportationinfrastructure 705; CAVH cloud 706; Communication between CAV and OBUcloud 707; Communication between transportation infrastructure and OBUcloud 708; Communication between user and OBU cloud 709; Communicationbetween RSU and OBU cloud 710; Communication between CAVH Cloud and OBUcloud 711; Communication between CAVH System and OBU cloud 712; TCU/TCC713; and IRIS 714.

FIG. 8 is a schematic drawing showing embodiments of vehicle controlpurpose information. Features of embodiments of the technology shown inFIG. 8 include, e.g., vehicle 801; RSU 802; Information exchange betweenvehicle and vehicle 803; Information exchange between infrastructure andvehicle 804; Information exchange between cloud and vehicle 805;Information exchange between satellite and vehicle 806; Cloud 807; andSatellite 808.

FIG. 9 is a schematic drawing showing embodiments of a computationmodule design, methods, and systems. Features of embodiments of thetechnology shown in FIG. 9 include, e.g., Computation tasks 901, e.g.,computation involved tasks from CAVH system; Sequential works 902, e.g.,one type of computation task; Parallel works 903, e.g., one type ofcomputation task; Data storage 904 and data-related support system;Computation system 905, e.g., hardware/software system for computation;General purpose processor 906, e.g., specialty hardware on sequentialworks; Special purpose processor 907, e.g., specialty hardware onparallel works; and a Memory unit 908, e.g., providing memory supportfor computation.

FIG. 10 is a schematic drawing showing embodiments of a data flow anddata storage subsystem. Features of embodiments of the technology shownin FIG. 10 include, e.g., Detected short-range environment information1001; high-definition (HD) map 1002, e.g., having a high precision(e.g., at centimeter resolution); Fused data 1003, e.g., aggregated dataintegrated from multiple data sources to produce consistent, accurate,and useful information; On-board sensors 1004, e.g., sensors on vehicle;TCC/TCU 1005; and RSU 1006.

FIG. 11 is a schematic drawing showing the design and architecture ofembodiments of a cyber security system. Features of embodiments of thetechnology shown in FIG. 11 include, e.g., Cyber security system 1101;Critical OBU component 1102; Application 1103, e.g., application insideOBU system; Network 1104, e.g., network between entities; Cloud 1105,e.g., cloud system for OBU system; Attacks on confidentiality 1106,e.g., stealing or copying a target's personal information; Attacks onintegrity 1107, e.g., integrity attacks attempting to corrupt, damage,or destroy information or systems, and people who rely on information orsystems (e.g., sabotage). Attacks on availability 1108, e.g., preventinga target from accessing data (e.g., ransomware, denial-of-serviceattacks, etc.)

FIG. 12 is a schematic drawing showing embodiments of information flowfor shared driverless vehicle-related applications.

FIG. 13 is a schematic drawing showing embodiments of information flowfor taxi-related applications.

FIG. 14 is a schematic drawing showing embodiments of a human-machineinterface. Features of embodiments of the technology shown in FIG. 14include, e.g., Voice command recognition 1401 (e.g., destination, start,stop, accelerate, decelerate, lane change); Gesture recognition 1402(e.g., a gesture (e.g., pointing and the position of the finger) isrecognized and output as a direction)); Eye-gaze recognition 1403 (e.g.,eye direction is recognized and a direction is output based on therecognized gaze direction and/or face orientation); Control button 1404,e.g., used as a backup of key controlling operation; Touch screen 1405and 1406, e.g., for input (e.g., text input and command input bytouching) and output (e.g., showing a warning message, explanationmessage and/or other information (e.g., velocity, location, map, andother output); Speech synthesis 1407 (e.g., to render an output messagein voice (e.g., when a driver is not able to look at the screen); Outputcommand 1408 to control a vehicle is sent to ROS and ROS sends thecommand to a corresponding ECU via CAN bus; Message broadcast to anothervehicle 1409 and 1410 (e.g., a message is sent and the message receivedfrom another vehicle is sent to the Command/Signal Listener (vehicleside); RSU 1411 & 1412 (e.g., sends a command as input from a vehicleand a vehicle sends information (e.g., location, velocity) to RSU;Control signal 1413 from vehicle is shown to human. (e.g., low fuel,engine condition, engine temperature); Data from sensing devices 1414are input; Input from and output for human 1415 and 1416; Input from andoutput for vehicle 1147 and 1418.

It is to be understood that the figures are not necessarily drawn toscale, nor are the objects in the figures necessarily drawn to scale inrelationship to one another. The figures are depictions that areintended to bring clarity and understanding to various embodiments ofapparatuses, systems, and methods disclosed herein. Wherever possible,the same reference numbers will be used throughout the drawings to referto the same or like parts. Moreover, it should be appreciated that thedrawings are not intended to limit the scope of the present teachings inany way.

DETAILED DESCRIPTION

In some embodiments, provided herein is technology related to a vehicleon-board unit (OBU) configured to provide transportation management andoperations and vehicle control for connected and automated vehicles(CAV). In some embodiments, the OBU provides transportation managementand operations and vehicle control for CAV in coordination with anintelligent road infrastructure system (IRIS). In some embodiments, thetechnology provides a system for controlling CAVs by sending customized,detailed, and time-sensitive control instructions and trafficinformation for automated vehicle driving to individual vehicles, suchas vehicle following, lane changing, route guidance, and other relatedinformation (e.g., a CAVH system (e.g., as described in U.S. patentapplication Ser. No. 15/628,331, filed Jun. 20, 2017 and U.S.Provisional Patent Application Ser. Nos. 62/626,862, filed Feb. 6, 2018,62/627,005, filed Feb. 6, 2018, 62/655,651, filed Apr. 10, 2018, and62/669,215, filed May 9, 2018, the disclosures of which are hereinincorporated by reference in their entireties). In some embodiments, thetechnology comprises a cloud system as described in U.S. ProvisionalPatent Application Ser. No. 62/691,391, incorporated herein by referencein its entirety.

In some embodiments, the technology comprises technologies related tosafety systems as described in U.S. Provisional Patent Application Ser.No. 62/695,938, incorporated herein by reference in its entirety. Insome embodiments, the technology relates to the use of a connectedautomated vehicle highway system and methods and/or components thereoffor heavy and special vehicles, e.g., as described in U.S. ProvisionalPatent Application Ser. No. 62/687,435, filed Jun. 20, 2018, which isincorporated herein by reference.

In this detailed description of the various embodiments, for purposes ofexplanation, numerous specific details are set forth to provide athorough understanding of the embodiments disclosed. One skilled in theart will appreciate, however, that these various embodiments may bepracticed with or without these specific details. In other instances,structures and devices are shown in block diagram form. Furthermore, oneskilled in the art can readily appreciate that the specific sequences inwhich methods are presented and performed are illustrative and it iscontemplated that the sequences can be varied and still remain withinthe spirit and scope of the various embodiments disclosed herein.

All literature and similar materials cited in this application,including but not limited to, patents, patent applications, articles,books, treatises, and internet web pages are expressly incorporated byreference in their entirety for any purpose. Unless defined otherwise,all technical and scientific terms used herein have the same meaning asis commonly understood by one of ordinary skill in the art to which thevarious embodiments described herein belongs. When definitions of termsin incorporated references appear to differ from the definitionsprovided in the present teachings, the definition provided in thepresent teachings shall control. The section headings used herein arefor organizational purposes only and are not to be construed as limitingthe described subject matter in any way.

Definitions

To facilitate an understanding of the present technology, a number ofterms and phrases are defined below. Additional definitions are setforth throughout the detailed description.

Throughout the specification and claims, the following terms take themeanings explicitly associated herein, unless the context clearlydictates otherwise. The phrase “in one embodiment” as used herein doesnot necessarily refer to the same embodiment, though it may.Furthermore, the phrase “in another embodiment” as used herein does notnecessarily refer to a different embodiment, although it may. Thus, asdescribed below, various embodiments of the invention may be readilycombined, without departing from the scope or spirit of the invention.

In addition, as used herein, the term “or” is an inclusive “or” operatorand is equivalent to the term “and/or” unless the context clearlydictates otherwise. The term “based on” is not exclusive and allows forbeing based on additional factors not described, unless the contextclearly dictates otherwise. In addition, throughout the specification,the meaning of “a”, “an”, and “the” include plural references. Themeaning of “in” includes “in” and “on.”

As used herein, the terms “about”, “approximately”, “substantially”, and“significantly” are understood by persons of ordinary skill in the artand will vary to some extent on the context in which they are used. Ifthere are uses of these terms that are not clear to persons of ordinaryskill in the art given the context in which they are used, “about” and“approximately” mean plus or minus less than or equal to 10% of theparticular term and “substantially” and “significantly” mean plus orminus greater than 10% of the particular term.

As used herein, the suffix “-free” refers to an embodiment of thetechnology that omits the feature of the base root of the word to which“-free” is appended. That is, the term “X-free” as used herein means“without X”, where X is a feature of the technology omitted in the“X-free” technology. For example, a “sensing-free” method does notcomprise a sensing step, a “controller-free” system does not comprise acontroller, etc.

As used herein, the term “support” when used in reference to one or morecomponents of the CAVH system providing support to and/or supporting oneor more other components of the CAVH system refers to, e.g., exchange ofinformation and/or data between components and/or levels of the CAVHsystem, sending and/or receiving instructions between components and/orlevels of the CAVH system, and/or other interaction between componentsand/or levels of the CAVH system that provide functions such asinformation exchange, data transfer, messaging, and/or alerting.

DESCRIPTION

In some embodiments, provided herein is a vehicle control on-board unit(OBU) that communicates with a vehicle infrastructure coordinationtransportation system. In some embodiments, the OBU described hereincomprises sensing modules to sense and characterize the drivingenvironment, components configured to enhance data processing andcommunication capabilities, a component to provide data backups, and/ora component to improve the automation level of the vehicle.

In some embodiments, e.g., as shown in FIG. 1, the technology comprisesan I2X communication environment. In some embodiments, the I2Xcommunication environment is associated with I2X communication systems,devices, and methods. In some embodiments, the I2X system comprises anRSU configured to communicate with the cloud, traffic signals, nearbypedestrians, the mobile network, and the vehicles on the road, e.g.,using wireless communication (see, e.g., FIG. 1: 101, 103, 104, 105,106). In some embodiments, the RSU communicates with other RSUs usingland optical fiber or other wired communication method (FIG. 1, 102).

In some embodiments, e.g., as shown in FIG. 2, the technology comprisesa V2V communication environment. In some embodiments, the V2Vcommunication environment is associated with V2V communication systems,devices, and methods. In some embodiments, a vehicle communicates withother nearby vehicles, e.g., through wireless communication (FIG. 2,203). In some embodiments, a vehicle communicates with pedestrians(e.g., on sidewalk), e.g., using wireless communication (FIG. 2, 202).In some embodiments, a vehicle communicates with a nearby RSU, e.g.,using wireless communication (FIG. 2, 203).

In some embodiments, e.g., as shown in FIG. 3, the technology comprisesdata transmission between sensors and/or information collecting modulesand data fusion units (e.g., OBU, RSU, TCU, and TCC). In someembodiments, e.g., at the microscopic level, vehicle sensory data, cabinpassenger data, and basic safety message are collected. In someembodiments, data (e.g., vehicle sensory data, cabin passenger data, andbasic safety message) are collected by sensors mounted on vehicleexterior, inside vehicle cabin, and from CAN bus interface. In someembodiments, microscopic level data are sent to OBU for data fusion. Insome embodiments, e.g., at the mesoscopic level, roadside sensory dataare collected, e.g., by sensors mounted on RSU. In some embodiments,mesoscopic level data are sent to RSU/TCU for data fusion. In someembodiments, e.g., at the macroscopic level, macroscopic trafficinformation is collected by information collecting module and sent toTCC for data fusion.

In some embodiments, e.g., as shown is FIG. 4, the technology provides aprediction module and associated methods and systems for prediction. Insome embodiments, an OBU comprises a prediction module, e.g., in someembodiments prediction methods are provided by the OBU. In someembodiments, the OBU prediction module is configured to provide threelevels of prediction methods and systems. In some embodiments, theprediction module predicts vehicle behaviors. In some embodiments, theprediction module predicts environmental information for the controlmodule. In some embodiments, the prediction module predictsenvironmental information for the decision-making module. In someembodiments, predictions are based on historical and current informationcollected by the sensing module of OBU and/or RSU.

In some embodiments, e.g., at a microscopic level, an OBU predictsinformation based on data collected by the OBU. In some embodiments, theOBU is assisted by data transmitted from an RSU. In some embodiments,the OBU prediction module is configured to predict car followingbehaviors, e.g., accelerating, decelerating, maintaining current speed,emergency braking, overtaking, and/or lane changing. In someembodiments, predicted car following behaviors are predicted by an OBUand, in some embodiments, predicted car following behaviors are modifiedbased on historical and/or predicted traffic condition informationand/or weather information collected by an RSU.

In some embodiments, e.g., at a mesoscopic level, an OBU predictsinformation by integrating the data collected by the OBU and datatransmitted from an RSU. In some embodiments, road environmentalinformation (e.g., road network traffic status, roadblocks, and weatherinformation) are predicted by the RSU. In some embodiments, following,overtaking, and/or changing lanes are predicted by the RSU and detailsof car following behaviors are predicted by OBU.

In some embodiments, e.g., at a macroscopic level, the OBU predictsinformation based on data received from the RSU and adjusts theprediction according to information collected by the OBU. In someembodiments, single vehicle behaviors, vehicle flow, and environmentalinformation are predicted by the RSU. In some embodiments, datacollected through the vehicle CANBU and real-time location informationcollected by a GPS device on the OBU are sent to the RSU assupplementary information.

In some embodiments, e.g., as shown in FIG. 5, the technology provides adecision-making module and associated methods and systems for decisionmaking. In some embodiments, a decision includes producing a drivingplan, e.g., comprising instructions for controlling a vehicle. In someembodiments, an OBU provides decision-making methods three levels. Insome embodiments, the decision-making module makes driving decisions forthe control module, e.g., based on the information collected by the OBUand received from the RSU. In some embodiments, e.g., at a microscopiclevel, the OBU makes decisions based on the vehicle data collected bythe OBU. In some embodiments, the OBU makes decisions based on thevehicle data collected by the OBU with assistance by the transmitted bythe RSU. In some embodiments, at a mesoscopic level, the OBU makesdecisions by integrating data collected by the vehicle (e.g., by avehicle OBU) and data transmitted by the RSU. In some embodiments, e.g.,at a macroscopic level, the OBU makes decisions based on data receivedfrom the RSU and adjusts the decision in real time based on vehiclestate information.

In some embodiments, e.g., as shown in FIG. 6, the technology provides amodule configured to control a vehicle and associated methods andsystems for control. In some embodiments, the technology provides acontrol module (e.g., of the OBU) configured to function at differentlevels. In some embodiments, the control module controls the vehicle,e.g., using information provided by the decision-making module. In someembodiments, e.g., at a microscopic level, a vehicle is controlled bythe control module of OBU. In some embodiments, e.g., at a mesoscopiclevel, a vehicle is controlled by the control module of OBU receivingsome instructions from RSU. In some embodiments, e.g., at a macroscopiclevel, a vehicle is controlled by RSU and the vehicle adjusts itselfaccording to the instructions of OBU.

In some embodiments, e.g., as shown in FIG. 7, the technology provides acloud subsystem. In some embodiments, the technology comprises a cloudsystem as described in U.S. Provisional Patent Application Ser. No.62/691,391, incorporated herein by reference in its entirety. In someembodiments, the technology provides an OBU Cloud platform residing in aCAVH system (see, e.g., the connected automated vehicle highway systemand methods and/or components thereof as described in U.S. patentapplication Ser. No. 15/628,331, filed Jun. 20, 2017 and U.S.Provisional Patent Application Ser. Nos. 62/626,862, filed Feb. 6, 2018,62/627,005, filed Feb. 6, 2018, 62/655,651, filed Apr. 10, 2018, and62/669,215, filed May 9, 2018, the disclosures of which are hereinincorporated by reference in their entireties). In some embodiments, OBUcloud services interact with CAVH users 702, vehicles 704 (e.g.,including CAVH and non-CAVH vehicles), CAVH IRIS infrastructure 703,general transportation infrastructure 705, and CAVH Cloud 706. In someembodiments, e.g., for OBU cloud-user end 709, the OBU cloud storesusers preferences and behavior, e.g., to provide inputs for executingpre-trip, within-trip and post-trip methods. In some embodiments, e.g.,for OBU cloud-vehicle end 707, the OBU cloud stores vehicle profileinformation, e.g., to execute driving tasks, e.g., navigation, guidance,and control. In some embodiments, e.g., for OBU cloud-infrastructure end710 and 708, the OBU cloud interacts with IRIS infrastructure and/ortransportation infrastructure, e.g., to coordinate functions such assensing, planning, prediction, control, and data management. In someembodiments, e.g., for OBU-cloud system end 711, the OBU cloud interactswith the CAVH system for global optimization and analysis. In someembodiments, e.g., for an area similar to TCU control range but that isnot under CAVH control, the OBU cloud aggregates computation resources,sensors, and communications from CAVs in the area to providecrowd-sensing, coordinated control, fleet/vehicle management, andoperational optimization for each CAVs to increase safety, efficiency,and mobility.

In some embodiments, e.g., as shown in FIG. 8, the technology providessystems and methods for vehicle control. In some embodiments, e.g., forroads comprising an RSU network, an OBU on a vehicle receives trafficinformation (e.g., complete, effectively, and/or substantially completetraffic information), e.g., comprising information about the vehicleenvironment and roads, from RSU, e.g., using I2V communication. In someembodiments, the information is provided as inputs for vehicle control.In some embodiments, other information, e.g., information form V2Vcommunication, supplements the information provided by the RSU to theOBU. In some embodiments, e.g., for roads comprising a partial RSUnetwork, an OBU on a vehicle receives partial traffic information, e.g.,comprising information about the vehicle environment and roads, fromRSU, e.g., using I2V communication. In some embodiments, other datasources, such as information provided by exchange between cloud andvehicle, and information provided by exchange between two vehicles, isprovided for control of a vehicle. In some embodiments, e.g., for roadsthat do not comprise an RSU or RSU network (e.g., roads that are noteffectively served by an RSU or RSU network), information from othervehicles and satellites provide information for vehicle control.

In some embodiments, e.g., as shown in FIG. 9, the technology provides acomputation module and associated systems and methods. In someembodiments, the computation module is configured to perform computationtasks. In some embodiments, computation tasks comprise sequential works.In some embodiments, computation tasks comprise parallel works. In someembodiments, sequential works and parallel works are identified and/ordivided based on their properties. In some embodiments, computationtasks are provided as inputs to a general purpose processor and/or aspecial purpose processor, e.g., in a computation system, respectively.In some embodiments, sequential works are provided as inputs to ageneral purpose processor. In some embodiments, parallel works areprovided as inputs to a special purpose processor. In some embodiments,a data storage system and/or memory unit provide support for computationprocess during computation.

In some embodiments, e.g., as shown in FIG. 10, the technology providesa data storage subsystem. In some embodiments, the technology comprisesa data flow, e.g., data flow to and from the data storage subsystem. Insome embodiments, a data storage subsystem hosts data, e.g., fro asource or from from multiple sources. In some embodiments, a sourcecomprises short-range environment information detected and/or providedby on-board sensors, a high-definition (HD) map (e.g., from TCC/TCU),and fused data (e.g., from RSU).

In some embodiments, e.g., as shown in FIG. 11, the technology providesa cyber security system. In some embodiments, the cyber security systemcomprises a design and an architecture. In some embodiments, the cybersecurity system provides cyber protections across multiple levels, e.g.,critical OBU component level, application level, network level, andcloud level. In some embodiments, the cyber security system preventsseveral types of attacks, i.e. attacks on confidentiality, attacks onintegrity, and attacks on availability.

In some embodiments, e.g., as shown in FIG. 12, the technology comprisesa module configured to manage information flow for shared driverlessvehicles. In some embodiments, the technology provides a module tochoose a route based on data and/or information related to a microscale,mesoscale, and/or macroscale user requirement and/or informationprovided by a microscale, mesoscale, and/or macroscale CAVH systemrequirement. In some embodiments, the module manages a vehicle having apassenger. In some embodiments, the module manages user interactionsbetween a vehicle and passengers. In some embodiments, the modulecomprises methods and systems for selecting passengers and optimizing(e.g., coordinating) selection of routes and passengers along a route.In some embodiments, the module comprises methods and systems forselecting a route and optimizing (e.g., coordinating) selection ofpassengers and routes comprising passengers. In some embodiments, themodule manages a vehicle that does not have a passenger (e.g., apassenger-free vehcile). In some embodiments, the module providessystems and methods for optimizing the activity of idle vehicles. Insome embodiments, the module provides methods and systems for finding aparking space (e.g., nearest parking space (e.g., free parking space)).In some embodiments, the module configured to manage information flowfor shared driverless vehicles comprises methods and systems to predictand/or direct one or more vehicles to a high demand area. In someembodiments, the module comprises methods and systems for optimizingroute choice to pick up passengers. In some embodiments, the moduleprovides methods and systems for operational control adjustment with andwithout passenger input. In some embodiments, the module providesprediction methods and systems for choosing a lane and/or providinginstructions to a car to enter a chosen lane. In some embodiments, themodule comprises algorithms, data, profiles, and information; andsystems and methods for mimicking human driver behavior. In someembodiments, the module is configured to support passenger anddriverless car interaction and communication. In some embodiments, themodule is configured to provide customized service for passenger, e.g.,to support and/or manage user interaction between vehicle and passengersand/or to provide real-time route optimization base on the requirementof passenger.

In some embodiments, e.g., as shown in FIG. 13, the technology providesa module optimized to perform optimization methods and systems tooptimize routes and/or picking up and dropping off passengers, e.g., fortaxis and other hired vehicles (e.g, car services, shuttles, etc.) Insome embodiments, an OBU support real-time communication between taxisand a regional dispatching center. In some embodiments, the moduleproduces a command message. In some embodiments, the command message isrelayed to a dispatching center and/or issued by a dispatching center.In some embodiments, the command message provides instructions relatingto optimization methods, e.g., predicting high demand areas, optimizingregional routes, recommending routes, and adjusting routes in real time(e.g., real-time re-routing). In some embodiments, the OBU updates andoptimizes a route based on real-time requirements of passengers. In someembodiments, the module provides methods and systems for safety. Forexample, in some embodiments, the module provides sensing and/orcomputing methods and systems for safety. In some embodiments, an OBUaccepts, processes, and understands a passenger requirement. In someembodiments, OBU provide real-time safety support and management fortaxis and other vehicles that frequently park. In some embodiments, themodule provides systems and methods configured to perform a stop, e.g.,in some embodiments the module sends instructions to a vehicle to stopthe vehicle. In some embodiments, the instructions comprise steps toinstruct a vehicle to make an emergency stop. In some embodiments, astop is based on a passenger command. In some embodiments, the safetymodule provides a recording function, e.g., to record the output of oneor more sensors characterizing the velocity, acceleration, location,etc. of a vehicle. In some embodiments, the safety module providessystems and modules for information backup. In some embodiments, thesafety module provides a “black box” function similar to a black box foran airplane as known in the art. In some embodiments, the safety moduleprovides systems and methods for recording video and/or audio inside avehicle, recording video and/or audio outside a vehicle, and for backingup the recorded information in inside video in the CAVH cloud.

In some embodiments, e.g., as shown in FIG. 14, the technology providesa human-machine interface and related systems and methods. In someembodiments, the human-machine interface comprises a Command/SignalProcessor. In some embodiments, the Command/Signal Processor isconfigured to receive and/or process input from a human and/or avehicle. In some embodiments, the Command/Signal Processor is configuredto send an output command and/or a message to one or more other modulesor components, e.g., including ROS, speech synthesis, touch screen, RSU,and Communication with other vehicles. In some embodiments, inputs arefrom a human, e.g., speaking, gestures, eye-gaze, and touch screen orcontrol buttons. In some embodiments, the inputs are from a vehicle,e.g., LIDAR/Radar/Camera, Info from the vehicle, RSU, and Communicationwith Other vehicles.

1-184. (canceled)
 185. A vehicle on-board unit (OBU) comprising: a datacollection and storage component configured to receive vehicle motionstate parameters and vehicle environment parameters; a communicationscomponent; a location component; and a vehicle control component,wherein said OBU is configured to perform sensing functions; predictionfunctions; planning and decision-making functions; and/or vehiclecontrol functions.
 186. The OBU of claim 185 configured to communicatein real-time with components of a connected and automated vehiclehighway (CAVH) system using wireless media and/or with other vehiclesusing wireless media.
 187. The OBU of claim 185 configured tocommunicate with a CAVH cloud.
 188. The OBU of claim 185 configured to:receive data from a roadside unit (RSU), wherein said data is used tocontrol a connected and automated vehicle (CAV); receive data from anRSU; and use said data, said vehicle motion state parameters, and saidvehicle environment parameters to control a CAV; and/or request datafrom an RSU; and use said data, said vehicle motion state parameters,and said vehicle environment parameters to control a CAV.
 189. The OBUof claim 185 wherein said communications component is configured tocommunicate with an RSU, a CAVH system, people, and/or other vehicles.190. The OBU of claim 185 wherein said data collection and storagecomponent is configured to receive data from external vehicle sensors,RSU sensors, and/or in-vehicle sensors.
 191. The OBU of claim 185configured to perform a method comprising: detecting objects in thedriving environment; receiving supplemental driving environment datafrom a CAVH system; receiving traffic status information, weatherinformation, and/or special event information from a CAVH system;receiving basic safety message (BSM) data; receiving vehicle occupantdata; and/or receiving a high definition map and, optionally, vehicleposition information.
 192. The OBU of claim 185 configured to perform amethod comprising: predicting vehicle behavior using said vehicle motionstate parameters, said vehicle environment parameters, and data receivedfrom an RSU; receiving predicted environmental status from an RSU;and/or receiving predicted vehicle behavior and/or predicted trafficflow from an RSU.
 193. The OBU of claim 185 configured to perform amethod comprising: making vehicle control decisions using said vehiclemotion state parameters, said vehicle environment parameters, and datareceived from an RSU; making path and route decisions using said vehiclemotion state parameters, said vehicle environment parameters, and datareceived from an RSU; and/or making route optimization decisions usingdata received from an RSU and, optionally, modifying route optimizationdecisions using said vehicle motion state parameters and said vehicleenvironment parameters.
 194. The OBU of claim 185 configured to performa method comprising: controlling a vehicle; receiving information froman RSU to assist vehicle control; and/or receiving control instructionsfrom an RSU.
 195. The OBU of claim 185 wherein said components areseparate modules or are integrated into a system on a chip.
 196. The OBUof claim 185 further comprising a central processing unit (CPU), agraphics processing unit (GPU), a memory unit, a power supply, a CANbus, and/or a human-machine interface.
 197. The OBU of claim 185,wherein said data collection and storage component is configured tostore said vehicle motion state parameters and said vehicle environmentparameters; a high definition map; and/or processed and aggregatedenvironment information received from an RSU.
 198. The OBU of claim 185,wherein said data collection and storage component is configured tostore data from external vehicle sensors, RSU sensors, in-vehiclesensors, and/or a traffic control center (TCC)/traffic control unit(TCU) in long-term reliable storage and to update said dataperiodically.
 199. The OBU of claim 185, wherein said OBU is configuredto be supported by a cyber security subsystem.
 200. The OBU of claim185, wherein said OBU is configured to be supported by a safetysubsystem.
 201. The OBU of claim 185, wherein said OBU is configured toreceive complete vehicle control instructions from a CAVH system;receive partial vehicle control instructions from a CAVH system andpartial vehicle control instructions from a driver; and/or receivecomplete vehicle control instructions from a driver.
 202. The OBU ofclaim 185, wherein said OBU is configured to: receive information and/orvehicle control instructions from RSUs providing complete coverage ofCAVH roads; receive information from RSUs providing partial coverage ofCAVH roads and receive vehicle control instructions from other sources;and/or receive information from non-RSU sources for vehicle control.203. The OBU of claim 185 configured to provide vehicle-to-vehicleand/or vehicle-to-infrastructure communication using dedicatedshort-range communication (DSRC), WiFi (IEEE 802.11), cellular, and/orBluetooth.
 204. The OBU of claim 185 wherein one or more of saidcomponents is provided as a hardware component and/or one or more ofsaid components is provided as a software component.
 205. A method ofcontrolling a vehicle comprising providing a CAVH system and an OBU ofclaim 185 to a vehicle.